/PROG  TL2_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 DROP";
PROG_SIZE	= 1273;
CREATE		= DATE 12-12-23  TIME 10:25:46;
MODIFIED	= DATE 25-01-02  TIME 11:35:38;
FILE_NAME	= TL2_DROP;
VERSION		= 0;
LINE_COUNT	= 24;
MEMORY_SIZE	= 1681;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26]=OFF    ;
   6:J P[3:CLEAR] 45% CNT20    ;
   7:  OVERRIDE=50% ;
   8:L P[4:APPROACH] 600mm/sec CNT50 ACC70    ;
   9:  WAIT DI[26]=OFF    ;
  10:L P[5:APPROACH] 300mm/sec CNT50    ;
  11:L P[6:APPROACH] 300mm/sec FINE    ;
  12:L P[7:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  13:   ;
  14:  DO[13]=OFF ;
  15:  DO[14]=ON ;
  16:  WAIT DI[14]=ON    ;
  17:  WAIT   1.00(sec) ;
  18:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=OFF    ;
  19:  DO[14]=OFF ;
  20:L P[9:APPROACH] 300mm/sec CNT50    ;
  21:L P[10:APPROACH] 300mm/sec CNT50    ;
  22:L P[11:CLEAR] 500mm/sec CNT50 ACC70    ;
  23:   ;
  24:  MOVE TO HOME    ;
/POS
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     8.455 deg,	J2=   -44.075 deg,	J3=    56.086 deg,
	J4=     -.003 deg,	J5=   -56.086 deg,	J6=   261.548 deg,
	E1=    16.095 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z = -1209.220  mm,
	W =   180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3196.569  mm,	Y =  -704.554  mm,	Z = -1270.370  mm,
	W =   154.919 deg,	P =    88.103 deg,	R =  -114.454 deg,
	E1=    16.096 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3201.110  mm,	Y =  -521.310  mm,	Z = -1275.403  mm,
	W =   161.893 deg,	P =    87.134 deg,	R =  -107.793 deg,
	E1=    16.088 deg
};
P[7:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3201.161  mm,	Y =  -521.268  mm,	Z = -1416.875  mm,
	W =   161.931 deg,	P =    87.137 deg,	R =  -107.755 deg,
	E1=    16.087 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3198.072  mm,	Y =  -754.993  mm,	Z = -1416.973  mm,
	W =   156.329 deg,	P =    87.866 deg,	R =  -113.206 deg,
	E1=    16.098 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3226.813  mm,	Y =  -726.000  mm,	Z = -1200.607  mm,
	W =   179.357 deg,	P =    89.587 deg,	R =   -90.645 deg,
	E1=    16.095 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3226.813  mm,	Y =  -726.000  mm,	Z = -1067.647  mm,
	W =   179.357 deg,	P =    89.587 deg,	R =   -90.645 deg,
	E1=    16.095 deg
};
P[11:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3017.729  mm,	Y =  -851.419  mm,	Z =  -600.010  mm,
	W =   180.000 deg,	P =      .002 deg,	R =   -90.000 deg,
	E1=    16.095 deg
};
/END
